A light and small docking device and method

Abstract

The application relates to a light and small docking device and method, comprising: an active end and a passive end, wherein: the active end comprises: a frame, a positioning assembly, a bidirectional linear driving device, a crank connecting rod assembly, a lock hook assembly, a mechanism position state detection device and a plug assembly; and the passive end comprises: a base, a positioning pin assembly, a captured assembly, a locked assembly and a socket assembly. The light and small docking device and method can assist a mechanical arm to realize active capturing, guiding and positioning docking, active tightening, blind plug connector plugging and rigid locking of a small space vehicle and a large vehicle, thereby providing technical support for docking the small space vehicle to the large vehicle.

Description

Technical Field

[0001] This invention relates to the field of space application equipment technology, and more specifically, to a lightweight docking device and method. Background Technology

[0002] Large spacecraft, due to their powerful platform capabilities, are capable of docking with smaller spacecraft, thus requiring the installation of lightweight docking devices to support docking missions with smaller spacecraft.

[0003] However, for docking tasks of small aircraft, existing lightweight docking devices have low automation, high requirements for the operation capabilities of robotic arms, complex mechanisms, poor maintainability, and low reliability. Summary of the Invention

[0004] This application provides a lightweight docking device and method. To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general description, nor is it intended to identify key / important components or describe the scope of protection of these embodiments. Its sole purpose is to present some concepts in a simple form as a prelude to the detailed description that follows.

[0005] In a first aspect, embodiments of this application provide a lightweight docking device, which includes: an active end and a passive end, wherein: The active end includes: a frame, a positioning component, a bidirectional linear drive device, a crank connecting rod assembly, a locking hook assembly, a mechanism position status detection device, and a plug assembly; The positioning component includes: a first hollow positioning cup and a second hollow positioning cup, wherein the first hollow positioning cup and the second hollow positioning cup are symmetrically located on the outer side of the middle of the frame and are both perpendicular to the frame; The bidirectional linear drive device includes: a guide shaft, a lead screw, a resolver shaft, a resolver, a main frame A, a split frame A, a first crank push rod, a second crank push rod, a nut A, a sliding sleeve, a main frame B, a nut B, a split frame B, a motor reducer assembly, a drive gear, and a driven gear; the sliding sleeve includes multiple sliding sleeves, some of which are installed and fixed in holes on both sides of the main frame A, and others are installed and fixed in holes on both sides of the main frame B; the guide shaft is installed in the guide shaft support hole on the inner side wall of the frame and passes through the sliding sleeves on both sides of the main frame A and the main frame B respectively; The lead screw is mounted on lead screw mounting brackets located on both sides of the middle of the frame. One end of the lead screw is fixed to the driven gear, and the other end is fixed to the resolver shaft. The drive gear is fixed to the front output shaft of the motor reducer assembly and meshes with the driven gear. The resolver shaft is fixed to the inner ring of the resolver. Nut A is fixed in the middle position of the main body of frame A, and nut B is fixed in the middle position of the main body of frame B. The first crank push rod is located in the shaft hole of the split body of frame A, and the second crank push rod is located in the shaft hole of the split body of frame B. The crank-connecting rod assembly includes: a connecting rod, a rear connecting rod shaft, a crank, a front connecting rod shaft, a driven crank, and a crank shaft. One end of the rear connecting rod shaft is located in a shaft hole at the rear of the connecting rod, and the other end is located in a shaft hole at the upper part of the crank. One end of the front connecting rod shaft is located in a shaft hole at the front of the connecting rod, and the other end is located in a shaft hole at the upper part of the driven crank. The two crank shafts pass through the shaft holes at the lower part of the driven crank and the lower part of the crank, respectively. The locking hook assembly includes: a first main locking hook, a second main locking hook, a third main locking hook, and an auxiliary locking hook. The first main locking hook and the second main locking hook are respectively installed and fixed on both sides of the main body of the frame B, the third main locking hook is installed and fixed on one side of the main body of the frame A, and the auxiliary locking hook is fixed on the other side. The mechanism position detection device includes: a first micro switch, a second micro switch, a first trigger spring, a second trigger spring, a locking detection switch mounting base, an unlocking detection switch mounting base, a first contact detection micro switch, and a second contact detection micro switch. The first micro switch and the first trigger spring are integrally mounted on the locking detection switch mounting base, and the second micro switch and the second trigger spring are integrally mounted on the unlocking detection switch mounting base. The first contact detection micro switch and the second contact detection micro switch are located on the upper surface of the frame. The plug assembly includes: a floating connector plug and a rear cable. The floating connector plug is fixedly mounted on the mounting flange of the main body of the frame A, and the rear cable is attached to the connector. The passive end includes: a base, a positioning pin assembly, a captured assembly, a locked assembly, and a socket assembly; The positioning pin assembly includes: a first positioning pin and a second positioning pin. The upper surface of the base is provided with mounting holes for the first positioning pin and the second positioning pin. The first positioning pin, the second positioning pin and the base are connected and fixed by screws. The captured component includes: an X-shaped pull rod, and the base has a mounting hole for the X-shaped pull rod in the middle. The X-shaped pull rod is connected and fixed to the base by screws. The locked component includes: a locking seat and a locking hole, wherein the locking seat is mounted on the base; The socket assembly includes a floating connector socket, which is fixedly mounted on the mounting flange of the base.

[0006] According to a preferred embodiment, the bidirectional linear drive device further includes an angular contact bearing, a bearing cover, a bearing baffle, a bushing, a deep groove ball bearing, and a shaft retaining ring. The lead screw is mounted on the lead screw mounting bracket via the angular contact bearing, the bearing cover, the bearing baffle, the bushing, the deep groove ball bearing, and the shaft retaining ring.

[0007] According to a preferred embodiment, the lead screw has two sections of threads with opposite directions of rotation, and the two sections of threads respectively form a lead screw nut pair with the threaded holes of the nut A and the nut B.

[0008] According to a preferred embodiment, the middle part of the crank is a cam groove, which is divided into two sections. The lower cam groove is parallel to the line connecting the two shaft holes on the crank, and the upper cam groove is at an angle to the line connecting the two shaft holes on the crank. When the crank is rotated to its limit position, the upper cam groove is parallel to the axis of the lead screw.

[0009] According to a preferred embodiment, the upper front part of the first main lock hook, the second main lock hook, and the third main lock hook are all inclined surfaces, and the lower part is all oblique triangles.

[0010] According to a preferred embodiment, the locking seat and the locking hole are provided with inclined surfaces corresponding to the inclined surfaces of the first main locking hook, the second main locking hook, the third main locking hook, and the auxiliary locking hook. When the inclined surfaces of the first main locking hook, the second main locking hook, the third main locking hook, and the auxiliary locking hook are inserted into the inclined surfaces of the locking seat and the locking hole, rigid locking of the active end and the passive end can be achieved.

[0011] According to a preferred embodiment, the positioning pin consists of a central fine pin and a bottom coarse pin. The central fine pin cooperates with the positioning hole of the active end, constraining the passive end to only be able to rotate within a limited range relative to the active end. The bottom coarse pin of the positioning pin is finally inserted into the positioning hole of the active end, thereby achieving high-precision positioning between the passive end and the active end.

[0012] According to a preferred embodiment, the X-shaped pull rod has V-shaped openings on both sides. Within the capture range of the active end, the head of the connecting rod can be inserted into the X-shaped pull rod and correct the positional deviation of the passive end during the retraction process.

[0013] According to a preferred embodiment, the base is provided with fitting detection contacts on both sides. When the passive end is tightened, the fitting detection contacts trigger the first fitting detection micro switch and the second fitting detection micro switch.

[0014] According to another aspect of a preferred embodiment, this application provides a docking method for a lightweight docking device, the method comprising: Step 1: Use the motor reducer assembly to drive the internal mechanism to the unlock position; Step 2: The robotic arm operates the small spacecraft to the docking position; Step 3: Use the motor reducer assembly to drive the internal mechanism to complete the tightening and fitting of the active end and the passive end, the insertion of the blind-plug electrical connector, and the rigid locking. Step 4: The robotic arm releases the small spacecraft and evacuates.

[0015] The technical solutions provided in this application embodiment may include the following beneficial effects: In this embodiment, the lightweight docking device includes an active end and a passive end. The active end includes a frame, a positioning component, a bidirectional linear drive device, a crank-connecting rod assembly, a locking hook assembly, a mechanism position detection device, and a plug assembly. The passive end includes a base, a positioning pin assembly, a captured component, a locked component, and a socket assembly. The docking method of the lightweight docking device includes: Step 1, using the motor reducer assembly to drive the internal mechanism to the unlocking position; Step 2, a robotic arm maneuvering a small spacecraft to the docking position; Step 3, using the motor reducer assembly to drive the internal mechanism to complete the tightening and fitting of the active end and the passive end, the insertion of the blind-plug electrical connector, and rigid locking; Step 4, the robotic arm releasing the small spacecraft and withdrawing. The lightweight docking device and method described in this application can assist a robotic arm in actively capturing, guiding, positioning, docking, actively tightening, blindly inserting and removing electrical connectors, and rigidly locking small spacecraft and large spacecraft, thereby providing technical support for docking small spacecraft to large spacecraft. After the robotic arm operates the small spacecraft to the docking position, a specially designed active capture device captures the small spacecraft. The tightening device is electrically driven linearly to tighten the small spacecraft. During the tightening process, the guiding and positioning docking device achieves high-precision positioning. The electrical connectors of the small spacecraft are inserted and removed electrically. The rigid locking device is electrically locked to the small spacecraft.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0018] Figure 1 This is a three-dimensional structural diagram of a lightweight docking device after locking, provided in an embodiment of this application. Figure 2 This is an axial view of the active end of a lightweight docking device provided in an embodiment of this application; Figure 3 This is a rear view of the active end of a lightweight docking device provided in an embodiment of this application; Figure 4 This is a bottom view of the active end of a lightweight docking device provided in an embodiment of this application; Figure 5 This is a schematic diagram of the internal structure of the active end of a lightweight docking device provided in an embodiment of this application; Figure 6This is a schematic diagram of the crank-connecting rod assembly at the active end of a lightweight docking device provided in an embodiment of this application; Figure 7 This is a schematic diagram of the frame A assembly of the active end of a lightweight docking device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the active end lead screw shaft system of a lightweight docking device provided in an embodiment of this application; Figure 9 This is a schematic diagram of the passive end of a lightweight docking device provided in an embodiment of this application; Figure 10 This is a schematic diagram of the active and passive ends of a lightweight docking device provided in this application after locking. Figure 11 This is a schematic diagram of the active and passive end mechanisms of a lightweight docking device after locking, provided in an embodiment of this application. Figure 12 This is a schematic diagram showing the insertion of the active and passive end guiding and positioning docking device after the locking of the active end of the lightweight docking device provided in this application embodiment is completed; Figure 13 This is a schematic flowchart of a docking method for a lightweight docking device provided in an embodiment of this application.

[0019] Reference numerals: 1-Frame; 2-Motor reducer assembly; 3-Connecting rod; 4-First contact detection micro switch; 5-First main locking hook; 6-First hollow positioning cup; 7-Locking detection switch mounting base; 8-Guide shaft; 9-Frame A main body; 10-Input power connector socket; 11-Resolver; 12-Floating connector cable; 13-Floating connector plug; 14-Frame B main body; 15-Lead screw; 16-Rear shaft of connecting rod; 17-Crank; 18-Front shaft of connecting rod; 19-Frame B sub-frame Body; 20-First crank push rod; 21-Driven crank; 22-Crankshaft; 23-Nut B; 24-Sliding sleeve; 25-Driven gear; 26-Drive gear; 27-First micro switch; 28-First trigger spring; 29-Unlock detection switch mounting base; 30-Auxiliary lock hook; 31-Frame A split; 32-Nut A; 33-Bearing cover; 34-Bearing retainer; 35-Resolver shaft; 36-Angular contact bearing; 37-Shaft sleeve; 38-Deep groove ball bearing; 39-Shaft retaining ring; 40- X-type pull rod; 41-First positioning pin; 42-Locking seat; 43-Base; 44-Contact detection contact; 45-Floating connector socket; 46-Locking hole; 47-Second hollow positioning cup; 48-Second main locking hook; 49-Third main locking hook; 50-Second crank push rod; 51-Second micro switch; 52-Second trigger spring; 53-Second contact detection micro switch; 54-Second positioning pin. Detailed Implementation

[0020] The following description and accompanying drawings fully illustrate specific embodiments of the invention to enable those skilled in the art to practice them.

[0021] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0022] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of systems and methods consistent with some aspects of the invention as detailed in the appended claims.

[0023] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Furthermore, in the description of this invention, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0024] The following will be combined with the appendix Figure 1 -Appendix Figure 13 This application provides a detailed description of a lightweight docking device and method provided in its embodiments.

[0025] Please see Figure 1 This is a schematic diagram of the locked three-dimensional structure of a lightweight docking device provided in this application embodiment. Figure 1 As shown in the embodiments of this application, a lightweight docking device may include: an active end (200) and a passive end (100), wherein: The active end (200) includes: a frame (1), a positioning component, a bidirectional linear drive device, a crank connecting rod assembly, a locking hook assembly, a mechanism position status detection device, and a plug assembly; The passive end includes: base (43), positioning pin assembly, captured assembly, locked assembly, and socket assembly.

[0026] Specifically, in this embodiment, the active end (20) and the passive end (100) together include: a guiding positioning docking device, an active capture device, a rigid locking device, and a blind-mating connector assembly. Meanwhile, the active end (200) separately includes a bidirectional linear drive device and a mechanism position status detection device. The peripheral equipment includes large and small spacecraft.

[0027] In this embodiment of the application, the positioning component includes: a first hollow positioning cup (6) and a second hollow positioning cup (47). The first hollow positioning cup (6) and the second hollow positioning cup (47) are symmetrically located on the outer side of the middle of the frame (1) and are both perpendicular to the frame (1). The bidirectional linear drive device includes: a guide shaft (8), a lead screw (15), an angular contact bearing (36), a bearing cover (33), a bearing baffle (34), a bushing (37), a resolver shaft (35), a resolver (11), a frame A main body (9), a frame A split body (31), a first crank push rod (20), a second crank push rod (50), a nut A (32), a sliding sleeve (24), a frame B main body (14), a nut B (23), a frame B split body (19), a motor reducer assembly (2), a drive gear (26), and a driven gear (25), wherein: the inner side wall of the frame (1) is provided with four mounting support holes for the guide shafts (8), and the middle... A lead screw mounting bracket is provided, and four guide shafts (8) are installed in eight guide shaft support holes on the inner side wall and the middle structure of the frame (1); the embodiment of this application includes eight sliding sleeves, four of which are installed and fixed in four holes on both sides of the main body A (9), and the other four are installed and fixed in four holes on both sides of the main body B (14); the four guide shafts (8) pass through the four sliding sleeves on both sides of the main body A (9) and the main body B (14) respectively, supporting and guiding the linear movement of the main body A (9) and the main body B (14); a lead screw mounting bracket is provided inside the frame (1) near the middle two sides, and the lead screw (15) is connected by two angular contact bearings (36) and two Bearing cap (33), two bearing baffles (34), two bushings (37), a deep groove ball bearing (38), and a shaft retaining ring (39) are mounted on the screw mounting brackets on both sides of the middle of the frame (1); a driven gear (25) is fixed at one end of the screw (15) near the motor reducer assembly (2), and the driven gear (25) meshes with the drive gear (26) fixed on the output shaft at the front end of the motor reducer assembly (2); a resolver shaft (35) is fixed at the other end of the screw (15), and the resolver shaft (35) is fixed to the inner ring of the resolver (11), and the outer ring of the resolver (11) is fixed to the bearing cap (33); there are two sections on the screw (15). The threads with opposite directions form a screw-nut pair with the threaded holes of the nut A (32) fixed in the middle position of the main body of frame A (9) and the nut B (23) fixed in the middle position of the main body of frame B (14); the split body of frame A (31) is fixedly connected to the main body of frame A (9), and the first crank push rod (20) is located in the shaft hole of the split body of frame A (31). The first crank push rod (20) can rotate around the shaft hole but cannot move axially; the split body of frame B (19) is fixedly connected to the main body of frame B (14), and the second crank push rod (50) is located in the shaft hole of the split body of frame B (19). The second crank push rod (20) can rotate around the shaft hole but cannot move axially.

[0028] The crank-connecting rod assembly includes: a connecting rod (3), a rear connecting rod shaft (16), a crank (17), a front connecting rod shaft (18), a driven crank (21), and a crank shaft (22), wherein: one end of the rear connecting rod shaft (16) is located in the shaft hole at the rear of the connecting rod (3), and the other end is located in the shaft hole at the upper part of the crank (17); one end of the front connecting rod shaft (18) is located in the shaft hole at the front of the connecting rod (3), and the other end is located in the shaft hole at the upper part of the driven crank (21); the two crank shafts (22) pass through the shaft holes at the lower part of the driven crank (21) and the lower part of the crank (17), respectively; the frame (1) has two square... The lower part of the inner sidewall of the slot is provided with four crank shaft (22) holes. Under the constraint of the inner sidewall of the square slot of the frame (1), the driven crank (21) and crank (17) can only rotate around the two crank shafts (22). The frame (1) is provided with a set of crank connecting rod mechanism on the left and right sides. The middle part of the crank (17) is a cam groove. The cam groove is divided into two sections. The lower cam groove is parallel to the line connecting the two shaft holes on the crank (17). The upper cam groove is at an angle to the line connecting the two shaft holes on the crank (17). When the crank (17) rotates to the limit position, the upper cam groove is parallel to the axis of the lead screw (15) (see Figure 10 , 11 The first crank push rod (20) and the second crank push rod (50) are located in the cam grooves in the middle of the two cranks, respectively, and drive the two cranks to rotate and hold their positions.

[0029] The locking hook assembly includes: a first main locking hook (5), a second main locking hook (48), a third main locking hook (49), and an auxiliary locking hook (30). The first main locking hook (5) and the second main locking hook (48) are respectively installed and fixed on both sides of the main body of frame B (14), the third main locking hook (49) is installed and fixed on one side of the main body of frame A (9), and the auxiliary locking hook (30) is fixed on the other side and below the floating connector plug (13). The upper front part of the first main locking hook (5), the second main locking hook (48), and the third main locking hook (49) are all inclined surfaces, and the lower part is all oblique triangles.

[0030] The mechanism position detection device includes: a first micro switch (27), a second micro switch (51), a first trigger spring (28), a second trigger spring (52), a locking detection switch mounting base (7), an unlocking detection switch mounting base (29), a first contact detection micro switch (4), and a second contact detection micro switch (53). The first micro switch (27) and the first trigger spring (28) are mounted on the locking detection switch mounting base (7), and the second micro switch (51) and the second trigger spring (52) are mounted on the unlocking detection switch mounting base (29). The first contact detection micro switch (4) and the second contact detection micro switch (53) are located on the upper surface of the frame (1) and are used to detect whether the passive end (100) is in contact with the active end (200).

[0031] The plug assembly includes: a floating connector plug (13) and a rear cable (12). The floating connector plug (13) is fixedly installed on the mounting flange of the main body (9) of the frame A, and the rear cable (12) is attached. The floating connector plug (13) has a certain axial and radial orientation floating capability.

[0032] The positioning pin assembly includes: a first positioning pin (41) and a second positioning pin (54). Both the first positioning pin (41) and the second positioning pin (54) are composed of a center fine pin and a bottom coarse pin. The center fine pin is used to interact with the hollow positioning cup of the active end (200) to constrain the passive end (200) to only be able to rotate relative to the active end within a limited range. The bottom coarse pins of the first positioning pin (41) and the second positioning pin (54) are finally inserted into the hollow positioning cup of the active end (200) to achieve high-precision positioning of the passive end (100) and the active end (200) and to withstand shearing force. The upper surface of the base (43) is provided with mounting holes for the first positioning pin (41) and the second positioning pin (54). The first positioning pin (41) and the second positioning pin (54) are fixed to the base (43) by screws.

[0033] The captured component includes: an X-shaped pull rod (40), and a mounting hole for the X-shaped pull rod (40) in the middle of the base (43). The X-shaped pull rod (40) and the base (43) are connected and fixed by screws. The two sides of the X-shaped pull rod (40) are V-shaped openings. Within the capture range of the active end (200), the heads of the two connecting rods of the active end (200) can be inserted and the position deviation of the passive end (100) is corrected during the retraction process.

[0034] The locking assembly includes a locking seat (42) and a locking hole (46). The locking seat (42) and the locking hole (46) are provided with inclined surfaces corresponding to the inclined surfaces of the first main locking hook (5), the second main locking hook (48), the third main locking hook (49), and the auxiliary locking hook (30) of the active end (200). When the inclined surfaces of the first main locking hook (5), the second main locking hook (48), the third main locking hook (49), and the auxiliary locking hook (30) of the active end (200) are inserted into the inclined surfaces of the locking seat (42) and the locking hole (46), rigid locking of the active and passive ends is achieved.

[0035] The socket assembly includes a floating connector socket (22), which is fixedly mounted on the mounting flange of the base (43) and forms an electrical path when the floating connector plug (13) is inserted into the floating connector socket (22).

[0036] In addition, the base (43) is provided with contact detection contacts (44) on both sides. When the passive end (100) is pulled tight, the contact detection contacts (44) trigger the first contact detection micro switch (4) and the second contact detection micro switch (53).

[0037] Please see Figure 13 This application provides a schematic flowchart of a docking method for a lightweight docking device. Figure 13 As shown, the method in this application embodiment may include the following steps: Capture and lock: Step 1: Use the motor reducer assembly (2) to drive the internal mechanism to the unlock position; At this time, the motor reducer assembly (2) drives the lead screw (15) to rotate through the drive gear (26) and driven gear (25), pushing the frame A main body (9) and frame B main body (14) to move linearly to the outermost position. At this time, the unlock detection switch is triggered, and at the same time, the two sets of crank connecting rod assemblies of the active capture device rotate to the outermost position (e.g., Figure 2 As shown), the two links form an opening in the capture range.

[0038] Step 2: The robotic arm operates the small spacecraft to the docking position; At this time, the first positioning pin (41) and the second positioning pin (54) of the passive end (100) fall into the first hollow positioning cup (6) and the second hollow positioning cup (47) of the active end (200) respectively; the X-shaped pull rod (40) of the passive end (100) falls into the capture range of the two connecting rod heads of the active end (200).

[0039] Step 3: Use the motor reducer assembly to drive the internal mechanism to complete the tightening and fitting of the active end (200) and the passive end (100), the insertion of the blind-plug electrical connector, and the rigid locking. At this time, the motor reducer assembly (2) drives the lead screw (15) to rotate through the drive gear (26) and driven gear (25), pushing the frame A main body (9) and frame B main body (14) to move linearly from the outermost side to the center; under the push of the first crank push rod (20) and the second crank push rod (50) on the frame A split body (31) and frame B split body (19), that is, the first crank push rod (20) and the second crank push rod (50) move from the lower cam groove of the two cranks to the junction with the upper cam groove, and the two sets of crank connecting rod assemblies of the active capture device rotate from the outermost side to the limit position (e.g. Figure 10 , 11As shown), the two linkages capture and correct the X-shaped pull rod (40) until the active end (200) and the passive end (100) are in contact, realizing the correction of the position of the active end (200) to the passive end (100). The first contact detection micro switch (4) and the second contact detection micro switch (53) are triggered by the passive end contact detection contact (44); the motor reducer assembly (2) continues to rotate, and the frame A main body (9) and the frame B main body (14) continue to move linearly towards the center. The first crank push rod (20) and the second The crank push rod (50) starts to move linearly from the upper cam groove of the two cranks respectively. During the process, the two connecting rods remain in a tensile state. Then, the first main lock hook (5), the second main lock hook (48), the third main lock hook (49), and the auxiliary lock hook (30) of the active end (200) are inserted into the inclined surface of the locking seat (42) and the locking hole (46). The floating connector plug (13) of the active end (200) is inserted into the floating connector socket (22) of the passive end (100), and finally the locking detection switch is triggered, and the mechanism stops.

[0040] Step 4: The robotic arm releases the small spacecraft and evacuates.

[0041] Unlock: Step 1: The robotic arm grabs the small spacecraft; Step 2, the motor reducer assembly (2) in the active end (200) drives the internal mechanism to the unlock position; At this time, the motor reducer assembly (2) drives the lead screw (15) to rotate through the drive gear (26) and driven gear (25), pushing the frame A main body (9) and frame B main body (14) to move linearly to the outermost side. In the initial stage, the first crank push rod (20) and the second crank push rod (50) move linearly in the upper cam groove of the two cranks respectively. During the process, the two connecting rods remain in a tensile state, while the first main lock hook (5), the second main lock hook (48), the third main lock hook (49), and the auxiliary lock hook (30) at the active end push out the lock on the inclined surface. The inclined surface of the seat (42) and locking hole (46) is tightened, and the floating connector plug (13) of the active end (200) is pulled out from the floating connector socket (22) of the passive end (100); the first crank push rod (20) and the second crank push rod (50) respectively enter the lower cam groove of the two cranks, driving the two sets of crank connecting rod assemblies of the active capture device to open outward. During the process, the two connecting rods capture and push out the X-shaped pull rod (40), so that the active end (200) and the passive end (100) are separated; finally, the unlock detection switch is triggered, and the mechanism stops moving. Step 3: The robotic arm operates the small spacecraft to leave.

[0042] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0043] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A lightweight docking device, characterized in that, include: Active end, passive end, among which: The active end includes: a frame, a positioning component, a bidirectional linear drive device, a crank connecting rod assembly, a locking hook assembly, a mechanism position status detection device, and a plug assembly; The positioning component includes: a first hollow positioning cup and a second hollow positioning cup, wherein the first hollow positioning cup and the second hollow positioning cup are symmetrically located on the outer side of the middle of the frame, and both are perpendicular to the frame; The bidirectional linear drive device includes: a guide shaft, a lead screw, a resolver shaft, a resolver, a main frame A, a split frame A, a first crank push rod, a second crank push rod, a nut A, a sliding sleeve, a main frame B, a nut B, a split frame B, a motor reducer assembly, a drive gear, and a driven gear; the sliding sleeve includes multiple sliding sleeves, some of which are installed and fixed in holes on both sides of the main frame A, and others are installed and fixed in holes on both sides of the main frame B; the guide shaft is installed in the guide shaft support hole on the inner side wall of the frame and passes through the sliding sleeves on both sides of the main frame A and the main frame B respectively; The lead screw is mounted on lead screw mounting brackets located on both sides of the middle of the frame. One end of the lead screw is fixed to the driven gear, and the other end is fixed to the resolver shaft. The drive gear is fixed to the front output shaft of the motor reducer assembly and meshes with the driven gear. The resolver shaft is fixed to the inner ring of the resolver. Nut A is fixed in the middle position of the main body of frame A, and nut B is fixed in the middle position of the main body of frame B. The first crank push rod is located in the shaft hole of the split body of frame A, and the second crank push rod is located in the shaft hole of the split body of frame B. The crank-connecting rod assembly includes: a connecting rod, a rear connecting rod shaft, a crank, a front connecting rod shaft, a driven crank, and a crank shaft. One end of the rear connecting rod shaft is located in a shaft hole at the rear of the connecting rod, and the other end is located in a shaft hole at the upper part of the crank. One end of the front connecting rod shaft is located in a shaft hole at the front of the connecting rod, and the other end is located in a shaft hole at the upper part of the driven crank. The two crank shafts pass through the shaft holes at the lower part of the driven crank and the lower part of the crank, respectively. The locking hook assembly includes: a first main locking hook, a second main locking hook, a third main locking hook, and an auxiliary locking hook. The first main locking hook and the second main locking hook are respectively installed and fixed on both sides of the main body of the frame B, the third main locking hook is installed and fixed on one side of the main body of the frame A, and the auxiliary locking hook is fixed on the other side. The mechanism position detection device includes: a first micro switch, a second micro switch, a first trigger spring, a second trigger spring, a locking detection switch mounting base, an unlocking detection switch mounting base, a first contact detection micro switch, and a second contact detection micro switch. The first micro switch and the first trigger spring are integrally mounted on the locking detection switch mounting base, and the second micro switch and the second trigger spring are integrally mounted on the unlocking detection switch mounting base. The first contact detection micro switch and the second contact detection micro switch are located on the upper surface of the frame. The plug assembly includes: a floating connector plug and a rear cable. The floating connector plug is fixedly mounted on the mounting flange of the main body of the frame A, and the rear cable is attached. The passive end includes: a base, a positioning pin assembly, a captured assembly, a locked assembly, and a socket assembly; The positioning pin assembly includes: a first positioning pin and a second positioning pin. The upper surface of the base is provided with mounting holes for the first positioning pin and the second positioning pin. The first positioning pin, the second positioning pin and the base are connected and fixed by screws. The captured component includes: an X-shaped pull rod, and the base has a mounting hole for the X-shaped pull rod in the middle. The X-shaped pull rod is connected and fixed to the base by screws. The locked component includes: a locking seat and a locking hole, wherein the locking seat is mounted on the base; The socket assembly includes: a floating connector socket, which is fixedly mounted on the mounting flange of the base; The lead screw has two sections of threads with opposite directions of rotation, and the two sections of threads form a lead screw and nut pair with the threaded holes of the nut A and the nut B, respectively. The middle part of the crank is a cam groove, which is divided into two sections. The lower cam groove is parallel to the line connecting the two shaft holes on the crank, and the upper cam groove is at an angle to the line connecting the two shaft holes on the crank. When the crank is rotated to the limit position, the upper cam groove is parallel to the axis of the lead screw. The locking seat and the locking hole are provided with inclined surfaces corresponding to the inclined surfaces of the first main locking hook, the second main locking hook, the third main locking hook, and the auxiliary locking hook. When the inclined surfaces of the first main locking hook, the second main locking hook, the third main locking hook, and the auxiliary locking hook are inserted into the inclined surfaces of the locking seat and the locking hole, the active end and the passive end can be rigidly locked. The X-shaped pull rod has V-shaped openings on both sides. Within the capture range of the active end, the head of the connecting rod can be inserted into the X-shaped pull rod and correct the positional deviation of the passive end during the retraction process.

2. The lightweight docking device according to claim 1, characterized in that, The bidirectional linear drive device further includes an angular contact bearing, a bearing cover, a bearing baffle, a bushing, a deep groove ball bearing, and a shaft retaining ring. The lead screw is mounted on the lead screw mounting bracket via the angular contact bearing, the bearing cover, the bearing baffle, the bushing, the deep groove ball bearing, and the shaft retaining ring.

3. The lightweight docking device according to claim 1, characterized in that, The upper front part of the first main locking hook, the second main locking hook, and the third main locking hook are all inclined planes, and the lower part is all oblique triangles.

4. The lightweight docking device according to claim 1, characterized in that, The positioning pin consists of a central fine pin and a bottom coarse pin. The central fine pin cooperates with the positioning hole of the active end to constrain the passive end to only be able to rotate within a limited range relative to the active end. The bottom coarse pin of the positioning pin is finally inserted into the positioning hole of the active end to achieve high-precision positioning between the passive end and the active end.

5. The lightweight docking device according to claim 1, characterized in that, The base is provided with fitting detection contacts on both sides. When the passive end is tightened, the fitting detection contacts trigger the first fitting detection micro switch and the second fitting detection micro switch.

6. A docking method for a lightweight docking device, characterized in that, The lightweight docking device according to any one of claims 1-5 comprises: Step 1: Use the motor reducer assembly to drive the internal mechanism to the unlock position; Step 2: The robotic arm operates the small spacecraft to the docking position; Step 3: Use the motor reducer assembly to drive the internal mechanism to complete the tightening and fitting of the active end and the passive end, the insertion of the blind-plug electrical connector, and the rigid locking. Step 4: The robotic arm releases the small spacecraft and evacuates.

Images